Warping layer.
It has been shown that forward warping via softmax splatting delivers new state-of-the-art results for video frame interpolation [1]}. It can effectively address the issue incurred by the case that multiple source pixels are mapped to the same target location. Hence, in our work, with the estimated bi-directional optical flows, softmax splatting is employed to warp the input frames (i.e., containing \(x\) , \(y\) , and \(z\)  coordinates, and range \(r\) ), and the features of range images.
